I'm a bit concerned with a term that you and several other posters used “I engage the PTO at idle" and “independent PTO”. When we talk about L2800, 3400 and 4400 we’re entirely dealing with 3 separate concepts as follow
L-2800: transmission driven PTO with overrunning clutch (a ratchet just same as your 1/2” ratchet. It allows and engages in one direction only and slips in the opposite direction that is to prevent momentum of high kinetic energy such as rotary cutter to not push you forward)
L-3400: independent PTO (mechanical flavor) also knows as, live with dual stage clutch.
L-4400: Independent (hydraulic).
L2800 has one solid input shaft, one clutch plate and somewhere in transmission that rotational torque is transmitted to PTO shaft by action of coupler and not a clutch. Coupler will not allow you to feather the torque in. On the other hand both L3400 and L4400 have each two input shafts one inner and one outer. In other word a solid shaft inside a hollow shaft. Both are splined to each respective inner or outer shaft. There are two pressure plates. You push the clutch pedal half way and transmission is disengaged. It allows you shifting if synchronous without effecting rotation of PTO. On 4400 there is only one clutch plate that is splined to the outer shaft. Inner shaft always turns when the engine is on or not. There is a hydraulic clutch pack (several clutch plate that is squeezed together by hyd pressure to engage or disengage the PTO shaft rotation).
Now in case of L-2800 with transmission driven PTO, if one tries to engage the PTO with engine on and in neutral then the coupler will grind and would not engage. That is a bad thing to do. In neutral or in gear if you come to full stop and fully depress the clutch then nothing in transmission is rotating and you can easily engage the coupler. Anytime I used my tiller, I’ll raise it up without tines hitting the ground, put the transmission in neutral at low rpm, then fully clutch, engage the PTO shaft lever (in case of my ford 1700) or a cable and lever in case of L2800), I then change to desired gear (very slow) and start my forward motion and slowly lower my 3 pt right where I need to start tilling. I have put my PTO to task many times but not once had it jump out of the gear or grind. The coupler design on 2800 seems weak and does not seem to take much abuse, especially if one tries to engage the PTO at idle. Couplers are designed to engage when there is no rotation without damage. Coupling torque at any rotational speed is the job of a clutch. Also the PTO should be disengaged by clutching first and then release and not at all release and clutch. disengagement of a coupler at rotation speed causes shock load as it appears in your pic.